Abstract:
The inverted pendulum system (IPS) on a cart is
an example benchmark that is often used to demonstrate the
modeling and control design frameworks of modern control systems.
This paper describes the derivation of dynamic model and
control law of an IPS using energy-based methods. Specifically,
this paper first develops the IPS’ dynamic model using Euler-
Lagrange method and then derives a control law to stabilize it on
the desired position using Lyapunov method. Simulation results
are presented to show the capability of the designed control law
to stabilize the IVP on its equilibrium point.
